773984b4ea
Copter: AutoTune record accel max values
10 years ago
58505d8242
Copter: autotune relaxes alt controller when landed
10 years ago
362a43c126
Copter: explicitly set alt_target_from_climb_rate parameter
10 years ago
62816b28f6
Copter: corrects C11 errors in AutoTune for OS X with clang.
10 years ago
278883c521
Copter: finished conversion to .cpp files
...
Pair-Programmed-With: Randy Mackay <rmackay9@yahoo.com>
10 years ago
356ece3402
Copter: rename .pde files to .cpp files
10 years ago
554de1f2d7
Copter: added channel objects named after input function
...
this follows the pattern used in plane and rover
10 years ago
542e5fb54c
Copter: backoff autotune discovered Stab P to 90%
10 years ago
7cccb73103
Copter: yet more Autotune Updates
10 years ago
92fe75f396
Copter: more Autotune updates
10 years ago
05103d9f9c
Copter: Autotune update
10 years ago
d8146ff3f6
Copter: revert AP_Math class change
10 years ago
20dc48ed16
Coter: compiler warnings: apply is_zero(float) or is_equal(float) and float to doubles
10 years ago
8610da7fbc
Copter: autopilot modes to check for motor interlock status
10 years ago
9b15ea6f5c
Copter: Change throttle_zero to check interlock and E-stop status
10 years ago
f93ff2d3ec
Copter: use new lowpass filter
10 years ago
ca66b51ba9
Copter: Autotune parameter update
10 years ago
b50f065cab
Copter: use relax alt hold controllers
10 years ago
91a03ae0e7
Copter: add PILOT_THR_FILT and call set_throttle_out functions with that value
10 years ago
b27b9dd86e
Copter: use new throttle interface
10 years ago
2b5fb850dd
Copter: Autotune adjustments
10 years ago
f8a6684c12
Copter: Autotune update
10 years ago
cfe12f38a5
Copter: Adjust Autotune backoff of accel
10 years ago
35d1cbd053
Copter: Autotune fix P test
10 years ago
cedd423c30
Copter: Autotune Yaw limits update
10 years ago
7cd78f63bf
Copter: Stop autotune repeatedly saving gains
10 years ago
ecefe78417
Copter: interpret input in stabilize as a tilt vector
10 years ago
b475a2fe10
Copter: AutoTune formatting fixes
...
no functional change
10 years ago
36c91970f1
Copter: Autotune algorithm update
10 years ago
9bfb0e1f40
Copter: Autotune comment changes and formatting
10 years ago
1c57c6a266
Copter: Autotune update yaw filt and rate P max
10 years ago
1ebf2c40f5
Copter: Autotune rewrite
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Includes the following:
Increase Autotune Limits
Low Rate_P_Max prevents correct Rate_D prediction.
make adjustment proportional
increase the maximum value of Rate_P
adjustment for zero overshoot
Speed up autotune
Reduce D bounce back requirement
adapt matthewlloyd's switching
Includes many enhancements to the basic code but doesn't bring in his
speed up ideas
Reduce Stab P down
Add Calibration
Repeat side to increase speed
Update Autotune PI ratios
fixup comments
autotune incorporate aggressiveness parameter
sets max accel for roll, pitch, yaw
Update accel calc and set Yaw D to zero
Calculate Accel correctly on SP Limit
Send saved gains msg to GCS
updates PID filter
increase accel backoff
save max accel if rate feedfwd enabled
keep stabilizing
10 years ago
307b9e807f
Copter: reduced build warnings
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removed some unused code, and mark some functions with UNUSED_FUNCTION
10 years ago
f045c75bfe
Copter: play various tones
10 years ago
07975ed564
Copter: minor reformat of control_autotune
10 years ago
74fedc0897
Copter: allow starting autotune from flightmode switch
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ch5 switch to AutoTune is equivalent to starting autotune via sw7/8.
10 years ago
2b4f5fa79d
Copter: increase autotune limits
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Rate D max to 0.020 (was 0.015)
Rate P max to 0.35 (was 0.25)
Stab P max to 20 (was 15)
11 years ago
85213dccbf
Copter: Autotune Fix
11 years ago
52a3dc2bde
Copter: reset target alt to current alt when landed
11 years ago
9202149fb1
Copter: integrate pre-takeoff throttle feedback
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This feature slightly revs the motors in response to the pilot's input
before takeoff AltHold, Loiter, AutoTune, PosHold and Sport flight modes
pair-programmed with Randy Mackay
11 years ago
08801eebf2
Copter: integrate AttControl's set_yaw_target_to_current_heading
11 years ago
77d5d682c1
Copter: integrate init_targets rename to relax_bf_rate_controller
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Also remove unnecessary init_targets from flight mode init functions.
11 years ago
a3036fc443
Copter: init pos_control z-axis after setting speed and accel
11 years ago
7d7a2aced7
Copter: init vert speed and accel for each flight mode
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This resolves issue #1021 in which LAND mode could descend at the
PILOT_VELZ rate instead of the WPNAV_SPEED_DN
Pilot defined acceleration is used for AltHold, AutoTune , Circle,
Hybrid, Loiter, OF_Loiter and Sport flight modes
Waypoint Nav (ie. AutoPilot) acceleration is used for Auto, Land, RTL
11 years ago
e89600afe3
Copter: integrate smoothing gain into flight modes
11 years ago
b259510095
Copter: init roll/pitch input filters
11 years ago
aab9b30bf6
Copter: replace APM_PI with AC_P
...
Saves about 90bytes of RAM
11 years ago
3ccd1ad170
Copter: integrate AttControl method name changes
11 years ago
2c1ec9d0c0
Copter: remove control_roll, pitch, yaw from control files
11 years ago
1cd678f684
Copter: compiler warning for control_autotune
11 years ago
Leonard Hall
Randy Mackay
Tim Ryan
Andrew Tridgell
Tom Pittenger
Robert Lefebvre
Jonathan Challinger
Brad Bosch